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Robust vehicle detection is one of the key task for autonomous vehicle under the complex urban environment. Using 3D Lidar, the difficulty of the task lies in that the appearance of a vehicle in the sparse range data changes greatly with the distance, the angle of view, as well as occlusions. In this paper we present a new algorithm to detect vehicles using the finely segmented 3D object points. In...
This paper describes a new approach for 3D LIDAR data segmentation in rough area. As 3D LIDARs become popular equipments in robotics, processing data in real time and safely driving on challenge environments are two important problems of intelligent vehicles. For overcoming roughness and unpredictable inclination in rough area, we design a graph-based segmentation framework. Each LIDAR scan line is...
Visual odometry becomes an important method to deal the localization work in intelligent vehicle and robotics. A high performance visual odometry needs to achieve two requirements: high accuracy and high frequency. So we propose a two-stage local binocular bundle adjustment algorithm doing the optimization and construct a parallel pipeline using GPU acceleration. Finally, our system can run at about...
Road detection is the most fundamental part of autonomous vehicles. Noises caused by shadows and vehicles on the road have a great negative impact on the road detection. Our method improves the performance under the noisy environment by taking advantage of color information to determine the road curvature. A novel geometrical method is proposed in this paper to select the most matched curvature. A...
Recently, researches on intelligent vehicles which can drive in urban environment autonomously become more popular. Traffic lights are common in cities and are important cues for the path planning of intelligent vehicles. In this paper, a robust and efficient algorithm to detect traffic lights based on video sequences captured by a low cost off-the-shelf video camera is proposed. The algorithm models...
Visual odometry system is an important part in the navigation task. It is a remedy to the traditional odometry, which can give precise distance and course information in unknown or slippery situations. This paper proposes a monocular vision odometry system. It facilitates matching keypoints in different frames sharing the same world coordinates as one necessary constraint. By accurately matching the...
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